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This package provides a node that permits saving of map and robot trajectory data as RoboCup Rescue Robot League rules compliant geotiff files with georeference information. The node internally uses services to retrieve the required data. This incorporates:

• The map using the "map" service (nav_msgs/GetMap)

• The robot trajectory using the "trajectory" service (hector_nav_msgs/GetRobotTrajectory)

The trajectory can easily be made available using the hector_trajectory_server node. The launch file provided in the 'hector_geotiff/launch' directory shows a usage example.

Additional information can be written to the map through the use of plugins. The worldmodel_geotiff_plugins package contains an example with two plugins. The plugins to be loaded have to be specified as a space separated list of plugin names via the 'plugins' parameter.

ROS API

geotiff_node

geotiff_node is a node that generates a geotiff map along with georeference information.

Subscribed Topics

syscommand (std_msgs/String)

• System command. If the string equals "savegeotiff" the node saves a geotiff file.

Parameters

~map_file_path (string, default: ".")

• The path generated geotiff maps are saved to.

~map_file_base_name (string, default: "GeoTiffMap")

• The base name given to the generated geotiff file. The current time is appended to this base name when the map is saved.

~geotiff_save_period (double, default: 0.0)

• The period in seconds for automatically saving geotiff files periodically. If set to 0.0, automatic saving is disabled.

~plugins (string, default: "")

• A space seperated list of plugin names that should be loaded for the node. Per default, none are loaded.

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